Razvoj robotskog egzoskeletona za potporu mišića nadlaktice

master's thesis

• Title (english): Development of a robotic exoskeleton for the support of upper arm muscles
• Author: Luka Mišković
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2020-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Egzoskeleti su vrlo propulzivno područje istraživanja. Tehnologija razvijena u ovom području osim u vojnoj industriji sve više se koristi u rehabilitaciji, sportu te asistenciji oslabljenim ekstremitetima. Procjenjuje se da će se taj trend u budućnosti intenzivirati.
Cilj rada je razviti egzoskelet za potporu mišića nadlaktice. Razvoj obuhvaća sve aspekte mehatronike i robotike, konstrukcijski, elektronički i upravljački dio. Razvijena su dva koncepta na temelju funkcijskih, tehnoloških i sigurnosnih zahtjeva. Nakon razrađene konstrukcije, egzoskelet je fizički izrađen korištenjem aditivne tehnologije. Na tijelo egzoskeleta postavljena je sva potrebna elektronika te je implementiran baterijski paket koji egzoskelet čini mobilnim. Upravljački algoritmi koji su pohranjeni na mikrokontroler egzoskeleta napisani su u C++ programskom jeziku te je za kraj razvijena Android mobilna aplikacija koja služi za korisnikovu interakciju s egzoskeletom.

Abstract (english)

Exoskeletons are a very propulsive area of research. The technology developed in this area, except in the military industry, is increasingly used in rehabilitation, sports, and assistance to weakened extremities. It is estimated that this trend will intensify in the future.
The aim of the work is to develop an exoskeleton to support the upper arm muscles. The development covers all aspects of mechatronics and robotics, construction, electronic, and control parts. Two concepts have been developed based on functional, technological, and safety requirements. After the construction was developed, the exoskeleton was produced using additive technology. All the necessary electronics have been placed on the body of the exoskeleton, and a battery pack has been implemented that makes the exoskeleton mobile. The control algorithms stored on the exoskeleton’s microcontroller are written in the C++ programming language, and finally, an Android mobile application was developed that is used for the user's interaction with the exoskeleton.

• Keywords: egzoskelet za gornje udove; razvoj; konstrukcija; upravljanje; mobilna aplikacija
• Keywords (english): exoskeleton for upper limbs; development; mechanical design; control; mobile application
• Language: croatian
• URN:NBN: urn:nbn:hr:235:907805
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2020-07-07 10:51:46